We wrapped the pole with velcro in four spots, and applied the opposing velcro to four corresponding spots in that little space between the door hinge and the closet corner. Have yet to find it on the floor, but always handy when we stop.
I like the broom holders, though. I might try that for the hiking poles in the deep, odd shaped corner of the closet, behind my hanging "shoe bag" and drawers. With the handles, they're a little tougher to keep in place. Thanks for the idea!